JP2012135820A - Automatic picking device and automatic picking method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic picking device that reduces the risk of breakage of a hand and a picking target component when executing automatic picking.SOLUTION: The automatic picking device includes: a measuring device 20 for acquiring visual information including height information of components 60; an allowable tolerance control device 21 that determines whether the height difference between the components 60 exceeds the allowable tolerance and generates an uppermost-component moving command for moving an uppermost component 60a when the height difference d exceeds the allowable tolerance; a component position/posture information arithmetic unit 22 for calculating position information and posture information of the components 60; a robot control device 30 that generates a robot control signal for controlling the motion and posture of a robot 10 with respect to the uppermost component 60a or the components 60 and controls the robot 10 by the robot control signal; and an end effector control device 40 that generates an end effector control signal for controlling an end effector 16 mounted to the tip of the robot 10 and controls the end effector 16 by the end effector control signal.

Description

  The present invention relates to an automatic picking apparatus using a robot, and more particularly to an automatic picking apparatus and an automatic picking method that reduce the risk of damage to a hand and a part to be picked during a picking operation.

  A robot manipulator (hereinafter simply referred to as a “robot”) recognizes the position and orientation of the components stacked in the container based on visual information from an object recognition system using 3D (3D) laser measurement technology, etc. An automatic picking device is used to pick up parts with a hand attached to the tip of the hand.

  In the conventional automatic picking apparatus, when the hand is approached to the part, if the interference with the container, the part or the like inevitably occurs, it is necessary to temporarily stop the automatic picking and to intervene in order to avoid the interference. As a countermeasure for automation without human intervention, there has been a proposal of stirring a part in a container by hand when it is recognized that there is a high possibility that interference will occur (see, for example, Patent Document 1).

  In addition, in the conventional automatic picking apparatus, picking may fail many times. As a countermeasure for this problem, there is a proposal to reduce picking failure by pulling the component to the center of the container when the hand fails to grip the component (see, for example, Patent Document 2). As another countermeasure against this problem, there is a proposal to reduce picking failure by issuing an instruction to move a part that is determined to be untaken and performing a moving operation (see, for example, Patent Document 3).

  However, the proposals in Patent Documents 1 to 3 cannot cope with the risk of damage to the hand or the component due to the interference between the hand and the component or the interference between the component and the component when the component is stirred or moved. For example, when only the parts in the center of the container are picked, many parts remain in the vicinity of the wall of the container, and the difference in height from the center becomes significant, so the parts fall, Parts and hands may be damaged. In particular, when automatically picking a medium-weight article having parts of several kg or more, the risk of breakage of the hand and parts increases.

JP-A 63-174890 JP 2001-179669 A JP-A-8-305433

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an automatic picking apparatus and an automatic picking method that reduce the risk of damage to a hand and a part to be picked when automatic picking is performed.

  According to one aspect of the present invention, a height difference between components based on visual information and a measuring device that acquires visual information including height information of a plurality of components housed in a component container is an allowable value. If the difference in height is greater than or equal to the allowable value, the top part present at the highest position among the parts is identified and the top part movement command for moving the top part is generated. A tolerance control device, a component position / orientation information calculation device that calculates component position information and orientation information based on visual information, and a work target based on the top component movement command, position information, and orientation information A robot control device that generates a robot control signal for controlling the posture and operation of the robot with respect to the uppermost component or the component, and controls the driving of the robot by the robot control signal, and the uppermost component movement command, position information, posture information, and An end effector control device that generates an end effector control signal for controlling the posture and operation of an end effector attached to the tip of the robot based on the robot control signal, and controls the driving of the end effector by the end effector control signal. The gist is that it is an automatic picking device.

  According to another aspect of the present invention, a step of obtaining visual information including height information of a plurality of parts housed in a part container, and a difference in height between parts based on the visual information is an allowable value. If it is determined that the difference is higher than the allowable value in the step of determining whether or not the difference in height between the components is equal to or higher than the allowable value, the highest position among the parts is determined. When it is determined that the difference is below the allowable value in the process of qualifying the existing top part, the process of moving the top part, and the step of determining whether the height difference between the parts exceeds the allowable value Based on visual information, calculating the position information and posture information of the component, and generating a robot control signal for controlling the posture and motion of the robot with respect to the component to be worked on based on the position information and posture information The robot control signal Based on the step of controlling the driving of the robot, the position information, the posture information, and the robot control signal, an end effector control signal for controlling the posture and operation of the end effector attached to the tip of the robot is generated, and the end effector control is performed. The present invention is summarized as an automatic picking method including a step of controlling driving of an end effector by a signal.

  According to another aspect of the present invention, a step of obtaining visual information including height information of a plurality of components housed in a component container, and calculating position information and posture information of the component based on the visual information. A step of generating a robot control signal for controlling the posture and operation of the robot with respect to the component to be worked based on the step, the position information and the posture information; and the component based on the position information, the posture information and the robot control signal. If it is determined that the difference in height is greater than the allowable value in the step of determining whether the difference in height is greater than the allowable value or the step of determining whether the difference in height between components is greater than the allowable value Permitted in the process of certifying the highest part existing at the highest position among the parts, the process of moving the top part, and the process of judging whether the height difference between the parts exceeds the allowable value If it is less than the value In the case of disconnection, an end effector control signal for controlling the posture and operation of the end effector attached to the tip of the robot is generated based on the position information, posture information, and robot control signal. Controlling the drive of the end effector.

  ADVANTAGE OF THE INVENTION According to this invention, when performing automatic picking, the automatic picking apparatus and the automatic picking method which can reduce the risk of breakage of the hand and the part to be picked can be provided.

1 is a schematic diagram of an automatic picking apparatus according to a first embodiment of the present invention. It is a flowchart which shows the automatic picking method which concerns on the 1st Embodiment of this invention. 3A is a plan view of the top surface of the component, and FIG. 3B is a plan view of the side surface of the component. In the automatic picking apparatus which concerns on the 1st Embodiment of this invention, it is a figure which shows an example which moves the uppermost component using the hand for a movement. In the automatic picking apparatus according to the first embodiment of the present invention, it is a diagram showing an example of moving the uppermost part using a gripping hand without using a moving hand. In the automatic picking apparatus which concerns on the 1st Embodiment of this invention, it is a figure which shows an example which moves the uppermost components using a special gripping hand, without using a moving hand. It is a flowchart which shows the automatic picking method which concerns on the 2nd Embodiment of this invention. Fig.3 (a) is a side view which shows the mode of the components in a component container, FIG.3 (b) is a side view which shows the mode of the components seen from the A direction of Fig.3 (a). It is a top view which shows the mode of the components in a components container. It is a height data map (part 1) of a part used for determining the movement of the top part. It is the height data map (2) of the components used in order to determine the movement of the top component.

  Embodiments of the present invention will be described below with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, the drawings are schematic, and the relationship between the thickness and the planar dimensions, the ratio of the thickness of each layer, and the like are different from the actual ones. Therefore, specific thicknesses and dimensions should be determined in light of the following description. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings.

(First embodiment)
As shown in FIG. 1, the automatic picking apparatus according to the first embodiment of the present invention includes a robot 10, a measuring device 20, a tolerance control device 21, a component position / orientation information calculation device 22, and a robot control. A device 30 and an end effector control device 40 are provided.

  As shown in FIG. 1, the measuring device 20 is provided at a position where a plurality of components 60 accommodated in the component container 50 can be measured, and includes a visual information including height information of the components accommodated in the component container 50. It is a sensor that acquires information. In the component container 50, one type of component 60 may be accommodated, and the components 60 may be accommodated in an aligned arrangement, or may be messy bulk stacking. As a method for acquiring visual information with the measuring device 20, a method using a laser scanner, a method using a stereo camera, and the like can be employed.

  In the method of using a laser scanner as the measuring device 20, first, a pulsed infrared laser is irradiated onto the measurement target (the component 60 accommodated in the component container 50). Then, the laser beam reflected by the measurement object or the like is received by a CCD camera or the like, the phase is measured, and the distance to the measurement object is calculated. Furthermore, by continuously measuring the distance while scanning the irradiation direction of the measuring device 20 two-dimensionally, it is possible to acquire 3D data of the distance to the measurement object and the azimuth. The distance to the measurement target can be calculated by triangulation and reflection time measurement in addition to the phase measurement of the pulsed infrared laser.

  In the method of using a stereo camera as the measuring device 20, first, the measurement object is simultaneously photographed by a plurality of cameras. And 3D data of a measuring object can be acquired by measuring a position, a distance, and a three-dimensional shape from the difference (parallax) of the position on the image of the object obtained by each camera.

  The tolerance control device 21 is connected to the measurement device 20 and the component position / orientation information calculation device 22. In the tolerance control device 21, tolerance values determined depending on the durability of the end effector 16 and the component 60 are stored. Means for storing tolerance values in the tolerance control device 21 include means for inputting and storing tolerance values with an input device (not shown) such as a keyboard, mouse, voice device, or light pen, and the end effector 16 and components. There are means for storing by calculating an allowable value by inputting a value related to durability of 60.

  The tolerance control device 21 receives the visual information from the measuring device 20, and determines whether the height difference d between the components 60 is equal to or greater than the tolerance based on the visual information. When the difference d between the heights of the components 60 is equal to or greater than the allowable value, the tolerance control device 21 recognizes the uppermost component 60a present at the highest position among the components 60, and determines the uppermost component 60a. A top part movement command to be moved is generated. The height difference d is a difference in height data calculated based on visual information (surface data) of the component 60 obtained by the measuring device 20. In FIG. 1, the height difference d between the parts 60 at one place is shown, but actually, the height difference d is measured at a plurality of places to determine whether the difference is greater than the allowable value.

  The component position / orientation information calculation device 22 is connected to the measurement device 20 and the robot control device 30. The component position / orientation information calculation device 22 calculates position information and posture information of the component 60 that is a work target such as picking by the robot 10 based on the visual information.

  The robot control device 30 is connected to the robot 10, the tolerance control device 21, the component position / orientation information calculation device 22, and the end effector control device 40. The robot control device 30 receives the uppermost component movement command from the tolerance control device 21 and receives the position information and posture information of the component 60 from the component position / orientation information calculation device 22. The robot control device 30 generates a robot control signal for controlling the posture and operation of the robot 10 with respect to the uppermost component 60a or the component 60 to be worked based on the uppermost component movement command, the position information, and the posture information. The robot control device 30 controls driving of the robot 10 by a robot control signal.

  The end effector control device 40 is connected to the robot 10 and the robot control device 30. The end effector control device 40 generates an end effector control signal for controlling the posture and operation of the end effector 16 attached to the tip of the robot 10 based on the uppermost component movement command, position information, posture information, and robot control signal. To do. The end effector control device 40 controls driving of the end effector 16 by an end effector control signal.

  When the end effector control device 40 receives the uppermost component movement command, the end effector control device 40 performs control for exchanging with a moving hand that is an end effector for moving the uppermost component 60a. The moving hand is determined by the shape of the uppermost component 60a to be moved. For example, if the uppermost component 60a has a recess or the like, it can be formed into a rod shape that can be inserted into the recess. The moving hand is not particularly limited in size and length as long as it can move the uppermost component 60a.

  The robot control signal and the end effector control signal recognize the part to be measured by the measuring device 20, for example, the XYZ coordinate position of the part to be gripped (for example, the center of the bolt) and the gripping direction / posture (Euler). 6-dimensional information of 3 angles A, B, and C angles such as a corner, a roll, a pitch, and a yaw angle.

  Further, the robot control device 30 can store part shape information part information about the work target part 60 on which the robot 10 input by an operator or the like performs work such as picking, and the end effector control apparatus 40 The end effector shape information of the end effector 16 attached to the tip of the robot 10 can be stored. Component shape information Component information and end effector shape information are stored in a storage device such as a known magnetic tape, magnetic drum, magnetic disk, optical disk, magneto-optical disk, or semiconductor memory such as ROM or RAM.

  The robot 10 includes a first arm portion 12a, a second arm portion 12b, a third arm portion 12c, and a fourth arm portion 12d in order from the base 11 side. The base 11 and the first arm portion 12a are rotatably connected by an A1 shaft 13a. The 1st arm part 12a and the 2nd arm part 12b are connected with the A2 axis | shaft 13b so that rotation is possible. The 2nd arm part 12b and the 3rd arm part 12c are connected so that rotation with the A3 axis 13c is possible. The distal end side (fourth arm portion 12d side) of the third arm portion 12c is rotatable with respect to the proximal end side (second arm portion 12b side) by an A4 shaft 13d. The 3rd arm part 12c and the 4th arm part 12d are connected with the A5 axis 13e so that rotation is possible. A robot-side auto tool changer 14 is rotatably connected to the tip of the fourth arm portion 12d via an A6 shaft 13f. In the robot 10 of this embodiment configured as described above, an appropriate control value is given from the robot control device 30 to the rotary actuator for each of the A1 axis 13a to A6 axis 13f, so that the base 11 can be controlled. Thus, the first to fourth arm portions 12a to 12d are set to appropriate postures.

  The robot-side auto tool changer 14 of the robot 10 can be connected to the hand-side auto tool changer 15. An end effector 16 is rotatably connected to the hand side auto tool changer 15. However, the end effector 16 is not attached to the robot-side auto tool changer 14 when the robot 10 is shipped. The end effector 16 is appropriately attached at the receiving destination of the robot 10 and is suitable for work on the system using the robot 10. The end effector 16 attached to the robot side auto tool changer 14 is for the A6 axis 13f around the A6 axis 13f that is a rotation axis extending in parallel with the standing direction of the end effector 16 with respect to the robot side auto tool changer 14. The rotary actuator can be rotated. As the end effector 16, for example, a two-claw gripper and a suction hand for picking the component 60 can be adopted. Various means such as suction, magnetic force, and adhesive material can be used as the suction means of the suction hand.

  The operation of the end effector 16 is controlled based on the end effector control signal created by the end effector control device 40. In the end effector 16 of the present embodiment, for example, when a two-claw gripper is adopted, the opening / closing operation or the like of the two-claw gripping portion 17 is controlled by the end effector control signal.

  The automatic picking method according to the first embodiment of the present invention will be described below with reference to the flowchart of FIG.

  In step S <b> 11, the component 60 in the component container 50 is measured using the measuring device 20, and visual information including height information of the plurality of components 60 accommodated in the component container 50 is acquired. The measuring device 20 transmits the acquired visual information to the tolerance control device 21 and the component position / orientation information calculation device 22.

  Next, in step S12, the tolerance control device 21 determines whether the height difference d between the components 60 is equal to or greater than the tolerance based on the received visual information. The height difference d means a difference in height data between the parts 60 calculated based on visual information (surface data) of the parts 60 obtained by the measuring device 20 in step S11. If it is determined that the height difference d between the components 60 is greater than or equal to the allowable value, the process proceeds to step S13. If it is determined that the height difference d between the components 60 is not greater than the allowable value, the process proceeds to step S15.

  The tolerance value is stored in the tolerance controller 21 before being determined in step S12. For example, by inputting a value related to the durability of the end effector 16 and the component 60 to the tolerance control device 21, the tolerance control device 21 determines a tolerance value depending on the durability of the end effector 16 and the component 60, and allows An allowable value is stored in the difference control device 21. Alternatively, the tolerance control device 21 may store the tolerance by directly inputting the tolerance.

  Next, in step S <b> 13, the tolerance control device 21 recognizes the uppermost component 60 a existing at the highest position among the components 60. The tolerance control device 21 generates an uppermost component movement command for moving the recognized uppermost component 60a and transmits the command to the robot control device 30 and the end effector control device 40.

  Here, when the end effector control device 40 receives the uppermost component movement command, the end effector control device 40 may perform control for exchanging with a moving hand that is an end effector for moving the uppermost component. For example, when the component 60 (uppermost component 60a) has a recess (hole) 61 as shown in FIG. 3, it can be replaced with a rod-shaped moving hand 18 that can be inserted into the recess 61 as shown in FIG. The uppermost component 60a can be easily moved. If the end effector 16 is not replaced with the moving hand 18 and the robot 10 is operated to move the uppermost component 60a, the component container 50 and other components 60 come into contact with each other as shown in FIG. Sometimes. By exchanging the end effector 16 with the moving hand 18, it is possible to avoid contact with the component container 50 and other components 60.

  Next, in step S14, the robot control device 30 calculates the position and orientation information of the robot 10 with respect to the uppermost component 60a to be worked based on the uppermost component movement command, and controls the posture and operation of the robot 10. Generate a signal. The robot control device 30 controls the drive of the robot 10 so as to be in a position and orientation for moving the uppermost component 60a by the robot control signal. On the other hand, the end effector control device 40 generates an end effector control signal for controlling the posture and operation of the end effector 16 attached to the tip of the robot 10 based on the uppermost component movement command. The end effector control device 40 controls the drive of the end effector 16 by the end effector control signal to move the uppermost component 60a. By moving the uppermost component 60a, the height difference d between the components 60 becomes less than the allowable value. Thereafter, the process proceeds to step S11 again.

  Next, in step S15, the component position / orientation information calculation device 22 calculates position information and orientation information of the component 60 that is a work target such as picking by the robot 10 based on the visual information. Then, the component position / orientation information calculation device 22 transmits the position information and orientation information to the robot control device 30.

  Next, in step S <b> 16, the robot control device 30 calculates the position / orientation information of the robot 10 with respect to the component 60 to be worked based on the position information and the attitude information, and controls the attitude and operation of the robot 10. Generate a signal. In step S <b> 17, the robot control device 30 controls the driving of the robot 10 so as to be in the picking position / posture by the robot control signal.

  Next, in step S18, the end effector control device 40 generates an end effector control signal for controlling the posture and operation of the end effector 16 attached to the tip of the robot 10 based on the position information, the posture information, and the robot control signal. Generate. The end effector control device 40 controls the driving of the end effector 16 by the end effector control signal, and grips (picks) the component 60 to be worked.

  Next, in step S19, the gripped component 60 is conveyed to the designated location. Then, in step S20, it is determined whether the quantity of the parts 60 to be transported is in a predetermined state. If it is in the predetermined state, the operation is terminated, and if it is not in the predetermined state, it is performed again. The process proceeds to step S11.

  Automatic picking is performed through the above steps.

  According to the automatic picking apparatus and the automatic picking method according to the first embodiment, when the difference in height exceeds the allowable value, the uppermost component 60a is moved, so that the component 60 falls and the component 60 is dropped. Further, there is no difference in height that would damage the end effector (hand) 16. Therefore, even when the component 60 falls, the risk of breakage of the component 60 and the end effector 16 can be reduced.

  Further, according to the automatic picking apparatus and the automatic picking method according to the first embodiment, when the difference in height exceeds the allowable value, the uppermost component 60a is moved, so that the component 60 is agitated. In addition, since the component 60 is easily picked, it is possible to reduce picking failures.

(Second Embodiment)
The automatic picking apparatus according to the second embodiment of the present invention is substantially the same as the automatic picking apparatus shown in FIG.

  The tolerance control device 21 stores tolerance values determined depending on the durability of the end effector 16 and the component 60. The tolerance control device 21 stores a threshold value Δz determined depending on the shape and size of the component 60 and the like. The threshold value Δz is a height threshold value for a step where the component 60 can be moved. Means for storing the tolerance value and threshold value Δz in the tolerance control device 21 include means for inputting and storing the tolerance value and threshold value Δz with an input device (not shown) such as a keyboard, a mouse, a voice device, or a light pen. Further, there are means for storing by calculating an allowable value and a threshold value Δz by inputting values relating to durability, shape, size, and the like of the end effector 16 and the component 60.

  The tolerance control device 21 receives the visual information from the measuring device 20, and determines whether the height difference d between the components 60 is equal to or greater than the tolerance based on the visual information. When the difference d between the heights of the components 60 is equal to or greater than the allowable value, the tolerance control device 21 recognizes the uppermost component 60a present at the highest position among the components 60, and determines the uppermost component 60a. A top part movement command to be moved is generated. The height difference d means a difference in height data between the parts 60 calculated based on the position information, the attitude information, and the robot control signal of the part 60 obtained by the part position / orientation information calculation device 22. Specifically, the height difference d is obtained by calculating the center of gravity data of each component 60 and the distance from the coordinate system origin.

  The automatic picking method according to the second embodiment of the present invention will be described below with reference to the flowchart of FIG.

  In step S <b> 11, the component 60 in the component container 50 is measured using the measuring device 20, and visual information including height information of the plurality of components 60 accommodated in the component container 50 is acquired. The measuring device 20 transmits the acquired visual information to the tolerance control device 21 and the component position / orientation information calculation device 22.

  Next, in step S15, the component position / orientation information calculation device 22 calculates position information and orientation information of the component 60 that is a work target such as picking by the robot 10 based on the visual information. Then, the component position / orientation information calculation device 22 transmits the position information and orientation information to the robot control device 30.

  Next, in step S <b> 16, the robot control device 30 calculates the position / orientation information of the robot 10 with respect to the component 60 to be worked based on the position information and the attitude information, and controls the attitude and operation of the robot 10. Generate a signal.

  Next, in step S12a, the tolerance control device 21 determines whether the height difference d between the components 60 is equal to or greater than the tolerance based on the position information, the posture information, and the robot control signal. Here, the height difference d means a difference in height data calculated based on the position information and posture information of the component 60 obtained in step S15 and the robot control signal obtained in step S16. Specifically, the height difference d is obtained by calculating the gravity center data of the component 60 and the coordinate system origin. If it is determined that the height difference d between the components 60 is greater than or equal to the allowable value, the process proceeds to step S13. If it is determined that the height difference d between the components 60 is not greater than the allowable value, the process proceeds to step S15.

  The tolerance value is stored in the tolerance controller 21 before being determined in step S12a. For example, by inputting a value related to the durability of the end effector 16 and the component 60 to the tolerance control device 21, the tolerance control device 21 determines a tolerance value depending on the durability of the end effector 16 and the component 60, and allows An allowable value is stored in the difference control device 21. Alternatively, the tolerance control device 21 may store the tolerance by directly inputting the tolerance.

  Next, in step S <b> 21, the tolerance control device 21 determines whether there is a part 60 to be worked (pickable) based on the position information, the posture information, and the height difference d. . If there is a part 60 to be worked, the process proceeds to step S17, and if there is no part 60 to be worked, the process proceeds to step S13.

  Next, in step S13, the tolerance control device 21 recognizes the uppermost component 60a present at the highest position among the components 60, as shown in FIGS. Then, as shown in FIG. 9, the tolerance control device 21 increases the measurement data by an angle θ in an area with a radius r centered on the highest point Ph in the uppermost component 60a (a circular area with a chain line). Create a map. Then, based on the created height map, within the area of the width W centered on the line segment R within the range of the component container 50 (shaded portion), from a low point to a high point in the vector R direction When there is no threshold Δz, the uppermost component 60a is moved by the distance D in the vector R direction.

  Then, the tolerance control device 21 is based on the created height map and is within an area (shaded portion) having a width W centered on the line segment R within the range of the component container 50, and in the vector R direction. The difference from the low point to the high point is measured and compared with the threshold value Δz. As shown in FIG. 10, when the difference in height from the low point to the high point in the vector R direction is equal to or larger than the threshold value Δz, the uppermost component 60a cannot be moved, so that the possibility of movement in other directions is increased. revise. As shown in FIG. 11, when the difference in height from the low point to the high point in the vector R direction is equal to or less than the threshold value Δz, the vector R direction is determined as the moving direction of the uppermost component 60a, and the uppermost component 60a is determined as the distance. Move only D.

  The threshold value Δz is stored in the tolerance control device 21 before being determined in step S13. For example, by inputting values related to the shape, size, etc. of the component 60 to the tolerance control device 21, the threshold value Δz of the component 60 to be moved by the tolerance control device 21 is determined, and the tolerance value is stored in the tolerance control device 21. To do. Alternatively, the threshold value Δz may be directly input to the tolerance control device 21 and stored.

  The tolerance control device 21 generates an uppermost component movement command for moving the uppermost component 60a that is recognized as being movable, and transmits it to the robot control device 30 and the end effector control device 40.

  Next, in step S14, the robot control device 30 calculates the position and orientation information of the robot 10 with respect to the uppermost component 60a to be worked based on the uppermost component movement command, and controls the posture and operation of the robot 10. Generate a signal. The robot control device 30 controls the drive of the robot 10 so as to be in a position and orientation for moving the uppermost component 60a by the robot control signal. On the other hand, the end effector control device 40 generates an end effector control signal for controlling the posture and operation of the end effector 16 attached to the tip of the robot 10 based on the uppermost component movement command. The end effector control device 40 controls the drive of the end effector 16 by the end effector control signal to move the uppermost component 60a. By moving the uppermost component 60a, the height difference d between the components 60 becomes less than the allowable value. Thereafter, the process proceeds to step S11 again.

  Next, in step S <b> 17, the robot control device 30 controls the driving of the robot 10 so as to be in the picking position / posture by the robot control signal.

  Next, in step S18, the end effector control device 40 generates an end effector control signal for controlling the posture and operation of the end effector 16 attached to the tip of the robot 10 based on the position information, the posture information, and the robot control signal. Generate. The end effector control device 40 controls the driving of the end effector 16 by the end effector control signal, and grips (picks) the component 60 to be worked.

  Next, in step S19, the gripped component 60 is conveyed to the designated location. Then, in step S20, it is determined whether the quantity of the parts 60 to be transported is in a predetermined state. If it is in the predetermined state, the operation is terminated, and if it is not in the predetermined state, it is performed again. The process proceeds to step S11.

  Automatic picking is performed through the above steps.

  The automatic picking apparatus and the automatic picking method according to the second embodiment can achieve the same effects as the automatic picking apparatus and the automatic picking method according to the first embodiment.

  Moreover, according to the automatic picking apparatus and the automatic picking method according to the second embodiment, when the height difference exceeds the allowable value, the direction in which the uppermost component 60a is moved is selected and moved. When the uppermost part 60a is moved, it is possible to prevent the apparatus from being stopped due to being caught by another part 60 or the like.

(Other embodiments)
As described above, the present invention has been described according to the embodiment. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques should be apparent to those skilled in the art.

  In the embodiment, it has been described that the contact with the component container 50 and the other components 60 can be avoided by replacing the end effector 16 with the moving hand 18, but it is not necessary to replace it with the moving hand 18. There is also an end effector 16 that can avoid contact. For example, as shown in FIG. 6, the end effector 16 has gripping portions 17a and 17b, and when one gripping portion 17a has a function of extending to move the uppermost component 60a, the end effector 16 does not have to be replaced. The uppermost component 60a can be moved without contacting other components.

  In the automatic picking method of the embodiment, if the position information and the posture information of the uppermost component 60a are calculated based on visual information before the step of moving the uppermost component 60a, the accuracy of movement of the uppermost component 60a is improved. Failure to move can be reduced.

  In the embodiment, the robot 10 has been shown to be an articulated robot having six axes with six degrees of freedom as shown in FIG. 1, but the number of axes of the robot 10 is six axes. It is not limited, and it may be 4 axes or 5 axes. However, since the robot 10 has higher versatility as the number of axes increases, it is preferable that the number of axes is larger.

  Thus, it should be understood that the present invention includes various embodiments and the like not described herein. Therefore, the present invention is limited only by the invention specifying matters in the scope of claims reasonable from this disclosure.

DESCRIPTION OF SYMBOLS 10 ... Robot 11 ... Base 12a ... 1st arm part 12b ... 2nd arm part 12c ... 3rd arm part 12d ... 4th arm part 13a ... A1 axis 13b ... A2 axis 13c ... A3 axis 13d ... A4 axis 13e ... A5 Axis 13f ... A6 axis 14 ... Robot-side auto tool changer 15 ... Hand-side auto tool changer 16 ... End effector 20 ... Measurement device 21 ... Tolerance control device 22 ... Part position / orientation information calculation device 30 ... Robot control device 40 ... End effector Control device 50 ... Part container 60 ... Part 60a ... Top part

Claims (9)

A measuring device for acquiring visual information including height information of a plurality of components housed in a component container;
Based on the visual information, it is determined whether the difference in height between the components is greater than or equal to an allowable value. If the difference in height is greater than or equal to the allowable value, the difference is present at the highest position among the components. A tolerance control device that certifies the top part and generates a top part movement command to move the top part;
Based on the visual information, a component position and orientation information calculation device that calculates position information and posture information of the component;
Based on the uppermost component movement command, the position information, and the posture information, a robot control signal for controlling the posture and operation of the robot with respect to the uppermost component or the component to be worked is generated, and the robot control signal A robot control device for controlling the drive of the robot;
Based on the top part movement command, the position information, the posture information, and the robot control signal, an end effector control signal for controlling the posture and operation of an end effector attached to the tip of the robot is generated, and the end And an end effector control device that controls driving of the end effector according to an effector control signal.   The said end effector control apparatus performs control which replaces | exchanges for the movement hand which is the said end effector for moving the said top component, when the said top component movement command is received. Automatic picking device.   The automatic picking device according to claim 1 or 2, wherein the tolerance control device stores the tolerance value determined depending on durability of the end effector and the component. Obtaining visual information including height information of a plurality of parts housed in the parts container;
Determining based on the visual information whether the difference in height between the components is greater than or equal to an allowable value;
In the step of determining whether the difference in height between the components is equal to or greater than the allowable value, if it is determined that the height difference is equal to or greater than the allowable value, the highest position present at the highest position among the components. The process of qualifying parts;
Moving the uppermost part;
In the step of determining whether the difference in height between the components is equal to or greater than the allowable value, if it is determined that the height difference is equal to or less than the allowable value, the position information and orientation of the component are determined based on the visual information. A process of calculating information;
Generating a robot control signal for controlling the posture and movement of the robot with respect to the part to be worked based on the position information and the posture information, and controlling the driving of the robot by the robot control signal;
Based on the position information, the posture information, and the robot control signal, an end effector control signal for controlling the posture and operation of an end effector attached to the tip of the robot is generated, and the end effector control signal generates the end effector control signal. Controlling the drive of the effector. Obtaining visual information including height information of a plurality of parts housed in the parts container;
Calculating the position information and the posture information of the component based on the visual information;
Generating a robot control signal for controlling the posture and operation of the robot with respect to the part to be worked based on the position information and the posture information;
Determining whether a difference in height between the components is equal to or greater than an allowable value based on the position information, the posture information, and the robot control signal;
In the step of determining whether the difference in height between the components is equal to or greater than the allowable value, if it is determined that the height difference is equal to or greater than the allowable value, the highest position present at the highest position among the components. The process of qualifying parts;
Moving the uppermost part;
In the step of determining whether the difference in height between the components is equal to or greater than the allowable value, if it is determined that the difference is equal to or less than the allowable value, the position information, the posture information, and the robot control signal are included in the position information. And generating an end effector control signal for controlling the posture and operation of an end effector attached to the tip of the robot, and controlling the driving of the end effector by the end effector control signal. Automatic picking method to do.   6. The automatic picking method according to claim 4, further comprising a step of replacing the end effector with a moving hand for moving the uppermost part before the step of moving the uppermost part.   The method according to any one of claims 4 to 6, further comprising a step of calculating position information and posture information of the uppermost part based on the visual information before the step of moving the uppermost part. Automatic picking method as described.   8. The method according to claim 4, further comprising a step of determining the tolerance value depending on durability of the end effector and the component before the step of determining whether the tolerance value is exceeded. The automatic picking method according to item.   The automatic picking method according to claim 4, further comprising a step of determining a moving direction of the uppermost part before the step of moving the uppermost part.

Images